SALEM ACADEMY ROBOTICS
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CAD

2019 - 2021 competiton

custom created parts in onshape

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progression of scissor lift

This was built over the course of a week by 3 of our builders and put into CAD by me later. (Before the first qualifier) 
CAD includes:
  • 2 scissor lifts
  • 1 axle to connect the scissor lifts
  • A rack and pinion powered by a motor with worm gears
  • A grabbing system using two servos attached to flat bars and a build plate as a brace
The thought behind the placement of the motor in comparison to the arm attached to a rack and pinion was that we could have weight balance issues on the scissor lift, so we tried to make it as even as possible.
The grabbing mechanism (including the building plates and flat bars) was designed for maximum surface area contact with the block making it easier to hold the block when lifted.
The purpose of the axel connecting the two scissor lifts is to improve lifting synchronization and improve balance.
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progression of chassis design 

The chassis was built using Actobotics parts except for the two larger channels on the sides made of GoBuilda parts. This is the basic chassis design that was used during the first qualifier. 
NOTICE: We cut the lead screws that we had and I could not figure out how to scale, so the lead screws on the robot are longer than the ones on the ones in the CAD
CAD Includes:
  • 4 mecanum wheels 
  • 2 drawer slides (for the scissor lift)
  • 2 lead screws fed through lead screw nuts (also for the scissor lift)
We placed the motors inside the channels this year to allow for more build space, and the empty space under the robot allows for an easily accessible place for wires and the Rev Hub.  ​
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progression of STABILIZATION 1 

Goal: Stabilize the scissor lift. 
Problem: The issue we ran into during our first competition was that the scissor lift was slightly tilted and lifted unevenly. It’s lopsided
CAD Solution: Add long axels to connect the two scissor lifts to make the lifting more in sync, stable, and balanced. The axel highlighted in pink is the one that was initially put onto the scissor lift to help connect the two scissor lifts. My idea to make it more stable is to add three more axles. The yellow one would be the best one to start with, and so would the front blue one. (Yellow one was added on 3 Feb 2020).
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progression of arm grip

Goal: Come up with a way to grip the blocks
Problem: We originally used rubber bands and covered the building plate and top flat bar, however, it was very uneven on the left side and left space between the block and the plate in some places making our grip unreliable.
CAD Solution: Use rubber nubs to use as a grip instead and space them out evenly along with both the plate and the top flat bar so that the grip on the blocks will be even no matter where we grab them from.
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chassis and scissor lift cad drawing

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scissor lift cad 

The task was to CAD and print a new, single grabber piece.
​The goal of this design was to replace the claw part of our grabbing mechanism. Everything is the same size as the original piece, however, the point of printing this print was to have one part instead of the flat bracket and two L brackets on the sides. 

The problem we ran into with this piece was that I could not export it because Onshape separated my design into 3 parts instead of 1 (highlighted below). I tried putting the object into Assembly, grouping it, then export it from there, but it was still listed as 3 parts. I found that I can export each part individually, however we would be printing each part individually and that defeats the purpose of a single print CAD design of the grabber.
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  • Home
  • About
    • History of General Program
    • Salem Academy
    • First Tech
    • Faculty
    • Student Mentorship
  • FTC #15333
    • History of Code Sisters
    • Past Robots
    • Engineering Notebook
    • Awards
    • CAD >
      • 22 -23 CAD
      • 21-22 CAD
      • 20-21 CAD
      • 19-20 CAD
      • 18-19 CAD
    • Videos
    • Team Bios
  • FTC #7444
    • History of Sisters of the Motherboard
    • Past Robots
    • Engineering Notebook
    • Awards
    • CAD >
      • PowerPlay 22-23
      • Freight Frenzy 21-22
      • Ultimate Goal 20-21
      • Skystone 19-20
      • Rover Ruckus 18-19
    • Outreach >
      • Engineering Festival
      • Old Salem Community Day
      • WS Dash
      • Partnering with Girl Up
    • Videos
    • Team Bios
  • Sponsors & Partners
    • Team Sponsors
    • Community
    • Donate
  • Outreach
    • Salem Academy STEAM Camp
    • Hatteras STEAM Camp
    • High 5 @ Kaleideum
  • Social Media
  • Blog